diff --git a/cyber/examples/common_component_example/common_component_example.cc b/cyber/examples/common_component_example/common_component_example.cc
index 94730337c99035675292728e81b9ac617215d4aa..181a063cae11f7ab2d9dddd850efcc6ab2c008a7 100644
--- a/cyber/examples/common_component_example/common_component_example.cc
+++ b/cyber/examples/common_component_example/common_component_example.cc
@@ -15,9 +15,6 @@
  *****************************************************************************/
 #include "cyber/examples/common_component_example/common_component_example.h"
 
-#include "cyber/class_loader/class_loader.h"
-#include "cyber/component/component.h"
-
 bool CommonComponentSample::Init() {
   AINFO << "Commontest component init";
   return true;
diff --git a/cyber/examples/common_component_example/common_component_example.h b/cyber/examples/common_component_example/common_component_example.h
index 0048314d371f5b39d0161df1792a6a972f408e24..e279fe7ba589ef032fd882c5a329d7bfb1e49590 100644
--- a/cyber/examples/common_component_example/common_component_example.h
+++ b/cyber/examples/common_component_example/common_component_example.h
@@ -15,7 +15,6 @@
  *****************************************************************************/
 #include <memory>
 
-#include "cyber/class_loader/class_loader.h"
 #include "cyber/component/component.h"
 #include "cyber/examples/proto/examples.pb.h"
 
diff --git a/cyber/timer/timer.cc b/cyber/timer/timer.cc
index 365962708b0338bf622b054207bfa36ef1c3ae81..e2798abd475845bf3f3e05f327580746364a299d 100644
--- a/cyber/timer/timer.cc
+++ b/cyber/timer/timer.cc
@@ -65,7 +65,7 @@ bool Timer::InitTimerTask() {
     task_->callback = [callback = this->timer_opt_.callback, task_weak_ptr]() {
       auto task = task_weak_ptr.lock();
       if (task) {
-        std::lock_guard<std::mutex> lg(task->mtx_);
+        std::lock_guard<std::mutex> lg(task->mutex);
         callback();
       }
     };
@@ -76,47 +76,47 @@ bool Timer::InitTimerTask() {
       if (!task) {
         return;
       }
-      std::lock_guard<std::mutex> lg(task->mtx_);
+      std::lock_guard<std::mutex> lg(task->mutex);
       auto start = Time::MonoTime().ToNanosecond();
       callback();
       auto end = Time::MonoTime().ToNanosecond();
       uint64_t execute_time_ns = end - start;
       uint64_t execute_time_ms =
 #if defined(__aarch64__)
-          ::llround(static_cast<double>(execute_time_ns) / 1000000);
+          ::llround(static_cast<double>(execute_time_ns) / 1e6);
 #else
-          std::llround(static_cast<double>(execute_time_ns) / 1000000);
+          std::llround(static_cast<double>(execute_time_ns) / 1e6);
 #endif
-      if (task->last_execute_time_ns_ == 0) {
-        task->last_execute_time_ns_ = start;
+      if (task->last_execute_time_ns == 0) {
+        task->last_execute_time_ns = start;
       } else {
-        task->accumulated_error_ns_ +=
-            start - task->last_execute_time_ns_ - task->interval_ms * 1000000;
+        task->accumulated_error_ns +=
+            start - task->last_execute_time_ns - task->interval_ms * 1000000;
       }
-      ADEBUG << "start: " << start << "\t last: " << task->last_execute_time_ns_
+      ADEBUG << "start: " << start << "\t last: " << task->last_execute_time_ns
              << "\t execut time:" << execute_time_ms
-             << "\t accumulated_error_ns: " << task->accumulated_error_ns_;
-      task->last_execute_time_ns_ = start;
+             << "\t accumulated_error_ns: " << task->accumulated_error_ns;
+      task->last_execute_time_ns = start;
       if (execute_time_ms >= task->interval_ms) {
-        task->next_fire_duration_ms = 1;
+        task->next_fire_duration_ms = TIMER_RESOLUTION_MS;
       } else {
 #if defined(__aarch64__)
         int64_t accumulated_error_ms = ::llround(
 #else
         int64_t accumulated_error_ms = std::llround(
 #endif
-            static_cast<double>(task->accumulated_error_ns_) / 1000000);
-        if (static_cast<int64_t>(task->interval_ms - execute_time_ms - 1) >=
-            accumulated_error_ms) {
+            static_cast<double>(task->accumulated_error_ns) / 1e6);
+        if (static_cast<int64_t>(task->interval_ms - execute_time_ms -
+                                 TIMER_RESOLUTION_MS) >= accumulated_error_ms) {
           task->next_fire_duration_ms =
               task->interval_ms - execute_time_ms - accumulated_error_ms;
         } else {
-          task->next_fire_duration_ms = 1;
+          task->next_fire_duration_ms = TIMER_RESOLUTION_MS;
         }
         ADEBUG << "error ms: " << accumulated_error_ms
                << "  execute time: " << execute_time_ms
                << " next fire: " << task->next_fire_duration_ms
-               << " error ns: " << task->accumulated_error_ns_;
+               << " error ns: " << task->accumulated_error_ns;
       }
       TimingWheel::Instance()->AddTask(task);
     };
@@ -140,8 +140,12 @@ void Timer::Start() {
 void Timer::Stop() {
   if (started_.exchange(false) && task_) {
     AINFO << "stop timer, the timer_id: " << timer_id_;
-    std::lock_guard<std::mutex> lg(task_->mtx_);
-    task_.reset();
+    // using a shared pointer to hold task_->mutex before task_ reset
+    auto tmp_task = task_;
+    {
+      std::lock_guard<std::mutex> lg(tmp_task->mutex);
+      task_.reset();
+    }
   }
 }
 
diff --git a/cyber/timer/timer_task.h b/cyber/timer/timer_task.h
index d12f274f09e3ef82f18effb43f3d2157ab94fbf0..e883ff64588305ff2c3d4a77e34d2c4347a09c2e 100644
--- a/cyber/timer/timer_task.h
+++ b/cyber/timer/timer_task.h
@@ -32,9 +32,9 @@ struct TimerTask {
   uint64_t interval_ms = 0;
   uint64_t remainder_interval_ms = 0;
   uint64_t next_fire_duration_ms = 0;
-  int64_t accumulated_error_ns_ = 0;
-  uint64_t last_execute_time_ns_ = 0;
-  std::mutex mtx_;
+  int64_t accumulated_error_ns = 0;
+  uint64_t last_execute_time_ns = 0;
+  std::mutex mutex;
 };
 
 }  // namespace cyber
diff --git a/cyber/timer/timing_wheel.cc b/cyber/timer/timing_wheel.cc
index 8eabe09dd34a2ae56c395570112f0c28f07d755f..4e0e5db0c06f58454db41c929d468102fe3a2a83 100644
--- a/cyber/timer/timing_wheel.cc
+++ b/cyber/timer/timing_wheel.cc
@@ -72,8 +72,8 @@ void TimingWheel::AddTask(const std::shared_ptr<TimerTask>& task,
     Start();
   }
 
-  auto work_wheel_index =
-      current_work_wheel_index + task->next_fire_duration_ms;
+  auto work_wheel_index = current_work_wheel_index +
+                          task->next_fire_duration_ms / TIMER_RESOLUTION_MS;
   if (work_wheel_index >= WORK_WHEEL_SIZE) {
     auto real_work_wheel_index = GetWorkWheelIndex(work_wheel_index);
     task->remainder_interval_ms = real_work_wheel_index;
@@ -83,9 +83,13 @@ void TimingWheel::AddTask(const std::shared_ptr<TimerTask>& task,
       work_wheel_[real_work_wheel_index].AddTask(task);
       ADEBUG << "add task to work wheel. index :" << real_work_wheel_index;
     } else {
-      auto assistant_wheel_index = GetAssistantWheelIndex(
-          current_assistant_wheel_index_ + assistant_ticks);
-      assistant_wheel_[assistant_wheel_index].AddTask(task);
+      auto assistant_wheel_index = 0;
+      {
+        std::lock_guard<std::mutex> lock(current_assistant_wheel_index_mutex_);
+        assistant_wheel_index = GetAssistantWheelIndex(
+            current_assistant_wheel_index_ + assistant_ticks);
+        assistant_wheel_[assistant_wheel_index].AddTask(task);
+      }
       ADEBUG << "add task to assistant wheel. index : "
              << assistant_wheel_index;
     }
@@ -116,11 +120,17 @@ void TimingWheel::TickFunc() {
     // AINFO_EVERY(1000) << "Tick " << TickCount();
     tick_count_++;
     rate.Sleep();
-    current_work_wheel_index_ =
-        GetWorkWheelIndex(current_work_wheel_index_ + 1);
+    {
+      std::lock_guard<std::mutex> lock(current_work_wheel_index_mutex_);
+      current_work_wheel_index_ =
+          GetWorkWheelIndex(current_work_wheel_index_ + 1);
+    }
     if (current_work_wheel_index_ == 0) {
-      current_assistant_wheel_index_ =
-          GetAssistantWheelIndex(current_assistant_wheel_index_ + 1);
+      {
+        std::lock_guard<std::mutex> lock(current_assistant_wheel_index_mutex_);
+        current_assistant_wheel_index_ =
+            GetAssistantWheelIndex(current_assistant_wheel_index_ + 1);
+      }
       Cascade(current_assistant_wheel_index_);
     }
   }
diff --git a/cyber/timer/timing_wheel.h b/cyber/timer/timing_wheel.h
index fa7540b516ebd4a036bc3564089fdf9d7bca63b3..92dde7c4cbf707f5d0f226133ec7eaf0f38713dc 100644
--- a/cyber/timer/timing_wheel.h
+++ b/cyber/timer/timing_wheel.h
@@ -35,9 +35,9 @@ struct TimerTask;
 
 static const uint64_t WORK_WHEEL_SIZE = 512;
 static const uint64_t ASSISTANT_WHEEL_SIZE = 64;
-static const uint64_t TIMER_RESOLUTION_MS = 1;
+static const uint64_t TIMER_RESOLUTION_MS = 2;
 static const uint64_t TIMER_MAX_INTERVAL_MS =
-    WORK_WHEEL_SIZE * ASSISTANT_WHEEL_SIZE;
+    WORK_WHEEL_SIZE * ASSISTANT_WHEEL_SIZE * TIMER_RESOLUTION_MS;
 
 class TimingWheel {
  public:
@@ -78,7 +78,9 @@ class TimingWheel {
   TimerBucket work_wheel_[WORK_WHEEL_SIZE];
   TimerBucket assistant_wheel_[ASSISTANT_WHEEL_SIZE];
   uint64_t current_work_wheel_index_ = 0;
+  std::mutex current_work_wheel_index_mutex_;
   uint64_t current_assistant_wheel_index_ = 0;
+  std::mutex current_assistant_wheel_index_mutex_;
   std::thread tick_thread_;
 
   DECLARE_SINGLETON(TimingWheel)